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rgpio.c
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rgpio.c
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/*
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or
distribute this software, either in source code form or as a compiled
binary, for any purpose, commercial or non-commercial, and by any
means.
In jurisdictions that recognize copyright laws, the author or authors
of this software dedicate any and all copyright interest in the
software to the public domain. We make this dedication for the benefit
of the public at large and to the detriment of our heirs and
successors. We intend this dedication to be an overt act of
relinquishment in perpetuity of all present and future rights to this
software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
For more information, please refer to <http://unlicense.org/>
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <time.h>
#include <netdb.h>
#include <pthread.h>
#include <signal.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <sys/socket.h>
#include <netinet/tcp.h>
#include <sys/select.h>
#include <arpa/inet.h>
#include "rgpiod.h"
#include "rgpio.h"
#include "lgCfg.h"
#include "lgDbg.h"
#include "lgMD5.h"
#define LG_MAX_REPORTS_PER_READ 4096
#define STACK_SIZE (256*1024)
#define MAX_SBC 32
typedef void (*CBF_t) ();
struct callback_s
{
int id;
int sbc;
int chip;
int gpio;
int edge;
CBF_t f;
void * user;
callback_t *prev;
callback_t *next;
};
typedef struct
{
size_t count; // number of elements
size_t bytes; // bytes per element
size_t size; // total number of bytes
const void *ptr;
} lgExtent_t;
/* GLOBALS ---------------------------------------------------------------- */
static int gAbort = 0;
static int gPiInUse [MAX_SBC];
static int gPigCommand [MAX_SBC];
static int gPigHandle [MAX_SBC];
static int gPigNotify [MAX_SBC];
static uint32_t gLastLevel [MAX_SBC];
static pthread_t *gPthNotify [MAX_SBC];
static pthread_mutex_t gCmdMutex [MAX_SBC];
static int gCancelState [MAX_SBC];
static uint8_t *gMsgBuf [MAX_SBC];
static callback_t *gCallBackFirst = 0;
static callback_t *gCallBackLast = 0;
/* PRIVATE ---------------------------------------------------------------- */
static uint64_t xMakeSalt(void)
{
struct timespec xts;
clock_gettime(CLOCK_REALTIME, &xts);
return ((xts.tv_sec + xts.tv_nsec) * random()) + (random() + xts.tv_nsec);
}
static void xStopAll(void)
{
static int xInited = 0;
if (!xInited) gAbort = 1;
fflush(NULL);
xInited = 1;
signal(SIGINT, SIG_DFL);
raise(SIGINT);
}
static void xSignalHandler(int signum)
{
xStopAll();
}
static void _pml(int sbc)
{
int cancelState;
pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, &cancelState);
pthread_mutex_lock(&gCmdMutex[sbc]);
gCancelState[sbc] = cancelState;
}
static void _pmu(int sbc)
{
int cancelState;
cancelState = gCancelState[sbc];
pthread_mutex_unlock(&gCmdMutex[sbc]);
pthread_setcancelstate(cancelState, NULL);
}
static int lg_command
(int sbc, int command, int extents, lgExtent_t *ext, int rl)
{
int i;
lgCmd_p h;
uint8_t *p;
size_t len;
if ((sbc < 0) || (sbc >= MAX_SBC) || !gPiInUse[sbc])
{
return lgif_unconnected_sbc;
}
if (gAbort)
{
rgpiod_stop(sbc);
return lgif_unconnected_sbc;
}
_pml(sbc);
p = gMsgBuf[sbc];
h = (lgCmd_p) p;
h->magic = LG_MAGIC;
h->size = 0;
h->cmd = command;
h->doubles = 0;
h->longs = 0;
h->shorts = 0;
p += sizeof(lgCmd_t);
for (i=0; i<extents; i++)
{
h->size += ext[i].size;
memcpy(p, ext[i].ptr, ext[i].size);
p += ext[i].size;
switch(ext[i].bytes)
{
case 8:
h->doubles += ext[i].count;
break;
case 4:
h->longs += ext[i].count;
break;
case 2:
h->shorts += ext[i].count;
break;
}
}
len = sizeof(lgCmd_t) + h->size;
/*
printf("tx=%s\n", lgDbgStr2Hex(len, (char *)h));
*/
if (send(gPigCommand[sbc], h, len, 0) != len)
{
_pmu(sbc);
return lgif_bad_send;
}
if (recv(gPigCommand[sbc], h, sizeof(lgCmd_t), MSG_WAITALL) !=
sizeof(lgCmd_t))
{
_pmu(sbc);
return lgif_bad_recv;
}
if (rl) _pmu(sbc);
/*
printf("rx=%s\n", lgDbgStr2Hex(sizeof(lgCmd_t), (char *)h));
*/
return h->status;
}
static int lg_notify(int sbc)
{
lgCmd_t h;
if ((sbc < 0) || (sbc >= MAX_SBC) || !gPiInUse[sbc])
return lgif_unconnected_sbc;
h.magic = LG_MAGIC;
h.size = 0;
h.cmd = LG_CMD_NOIB;
h.doubles = 0;
h.longs = 0;
h.shorts = 0;
_pml(sbc);
if (send(gPigNotify[sbc], &h, sizeof(h), 0) != sizeof(h))
{
_pmu(sbc);
return lgif_bad_send;
}
if (recv(gPigNotify[sbc], &h, sizeof(h), MSG_WAITALL) != sizeof(h))
{
_pmu(sbc);
return lgif_bad_recv;
}
_pmu(sbc);
return h.status;
}
static int lg_command_0(int sbc, int command, int rl)
{return lg_command(sbc, command, 0, NULL, rl);}
static int lg_command_1(int sbc, int command, int p1, int rl)
{
lgExtent_t ext[1];
uint32_t pars[]={p1};
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
return lg_command(sbc, command, 1, ext, rl);
}
static int lg_command_2(int sbc, int command, int p1, int p2, int rl)
{
lgExtent_t ext[1];
uint32_t pars[]={p1, p2};
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
return lg_command(sbc, command, 1, ext, rl);
}
static int lg_command_3(int sbc, int command, int p1, int p2, int p3, int rl)
{
lgExtent_t ext[1];
uint32_t pars[]={p1, p2, p3};
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
return lg_command(sbc, command, 1, ext, rl);
}
static int lgOpenSocket(const char *addrStr, const char *portStr)
{
int sock, err, opt;
struct addrinfo hints, *res, *rp;
memset (&hints, 0, sizeof (hints));
hints.ai_family = PF_UNSPEC;
hints.ai_socktype = SOCK_STREAM;
hints.ai_flags |= AI_CANONNAME;
err = getaddrinfo (addrStr, portStr, &hints, &res);
if (err) return lgif_bad_getaddrinfo;
for (rp=res; rp!=NULL; rp=rp->ai_next)
{
sock = socket(rp->ai_family, rp->ai_socktype, rp->ai_protocol);
if (sock == -1) continue;
/* Disable the Nagle algorithm. */
opt = 1;
setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*)&opt, sizeof(int));
if (connect(sock, rp->ai_addr, rp->ai_addrlen) != -1) break;
}
freeaddrinfo(res);
if (rp == NULL) return lgif_bad_connect;
return sock;
}
static void dispatch_notification(int sbc, lgGpioReport_t *r)
{
callback_t *p;
/*
fprintf(stderr, "ts=%"PRIu64" c=%d g=%d l=%d f=%d\n",
r->timestamp, r->chip, r->gpio, r->level, r->flags);
*/
if (r->flags == 0)
{
p = gCallBackFirst;
while (p)
{
if ((p->sbc == sbc) && (p->chip == r->chip) && (p->gpio == r->gpio))
{
(p->f)(sbc, p->chip, p->gpio, r->level, r->timestamp, p->user);
}
p = p->next;
}
}
else /* no flags currently defined, ignore */
{
}
}
static void *pthNotifyThread(void *x)
{
static int got = 0;
int sbc;
int bytes, r;
lgGpioReport_t report[LG_MAX_REPORTS_PER_READ];
sbc = *((int*)x);
free(x); /* memory allocated in rgpiod_start */
while (1)
{
bytes = read(gPigNotify[sbc], (char*)&report+got, sizeof(report)-got);
if (bytes > 0) got += bytes;
else break;
r = 0;
while (got >= sizeof(lgGpioReport_t))
{
dispatch_notification(sbc, &report[r]);
r++;
got -= sizeof(lgGpioReport_t);
}
/* copy any partial report to start of array */
if (got && r) report[0] = report[r];
}
fprintf(stderr, "notify thread for sbc %d broke with read error %d\n",
sbc, bytes);
while (1) sleep(1);
return NULL;
}
static int intCallback(
int sbc, int chip, int gpio, int edge, void *f, void *user)
{
static int id = 0;
callback_t *p;
/*
printf("sbc=%d chip=%d gpio=%d edge=%d f=%p u=%p\n",
sbc, chip, gpio, edge, f, user);
*/
if ((chip < 64) && (gpio < 64) && (edge <= 3) && f)
{
/* prevent duplicates */
p = gCallBackFirst;
while (p)
{
if ((p->sbc == sbc) &&
(p->chip == chip) &&
(p->gpio == gpio) &&
(p->edge == edge) &&
(p->f == f))
{
return lgif_duplicate_callback;
}
p = p->next;
}
p = malloc(sizeof(callback_t));
if (p)
{
if (!gCallBackFirst) gCallBackFirst = p;
p->id = id++;
p->sbc = sbc;
p->chip = chip;
p->gpio = gpio;
p->edge = edge;
p->f = f;
p->user = user;
p->next = 0;
p->prev = gCallBackLast;
if (p->prev) (p->prev)->next = p;
gCallBackLast = p;
return p->id;
}
return lgif_bad_malloc;
}
return lgif_bad_callback;
}
static int recvMax(int sbc, void *buf, int bufsize, int sent)
{
/*
Copy at most bufSize bytes from the receieved message to
buf (if buf non-null). Discard the rest of the message.
*/
uint8_t scratch[4096];
int remaining, fetch, count;
remaining = sent;
if (sent < bufsize) count = sent; else count = bufsize;
if (count && buf)
{
recv(gPigCommand[sbc], buf, count, MSG_WAITALL);
remaining -= count;
/*
printf("recvMax(bs=%d sent=%d): %s\n",
bufsize, sent, lgDbgStr2Hex(count, (unsigned char *)buf));
*/
}
while (remaining)
{
fetch = remaining;
if (fetch > sizeof(scratch)) fetch = sizeof(scratch);
recv(gPigCommand[sbc], scratch, fetch, MSG_WAITALL);
remaining -= fetch;
}
return count;
}
/* PUBLIC ----------------------------------------------------------------- */
/* START/STOP */
int rgpiod_start(const char *addrStr, const char *portStr)
{
static int xInited = 0;
int sbc;
int *userdata;
struct sigaction new_action, old_action;
const char *userStr;
if (!xInited)
{
for (sbc=0; sbc<MAX_SBC; sbc++)
pthread_mutex_init(&gCmdMutex[sbc], NULL);
/* Set up the structure to specify the new action. */
new_action.sa_handler = xSignalHandler;
sigemptyset (&new_action.sa_mask);
new_action.sa_flags = 0;
sigaction (SIGINT, NULL, &old_action);
if (old_action.sa_handler != SIG_IGN)
sigaction (SIGINT, &new_action, NULL);
atexit(xStopAll);
xInited = 1;
}
for (sbc=0; sbc<MAX_SBC; sbc++)
{
_pml(sbc);
if (!gPiInUse[sbc])
{
gPiInUse[sbc] = 1;
_pmu(sbc);
break;
}
_pmu(sbc);
}
if (sbc >= MAX_SBC) return lgif_too_many_pis;
if ((!addrStr) || (!strlen(addrStr)))
{
addrStr = getenv(LG_ENVADDR);
if ((!addrStr) || (!strlen(addrStr)))
{
addrStr = LG_DEFAULT_SOCKET_ADDR_STR;
}
}
if ((!portStr) || (!strlen(portStr)))
{
portStr = getenv(LG_ENVPORT);
if ((!portStr) || (!strlen(portStr)))
{
portStr = LG_DEFAULT_SOCKET_PORT_STR;
}
}
gPigCommand[sbc] = lgOpenSocket(addrStr, portStr);
if (gPigCommand[sbc] >= 0)
{
gPigNotify[sbc] = lgOpenSocket(addrStr, portStr);
if (gPigNotify[sbc] >= 0)
{
gPigHandle[sbc] = lg_notify(sbc);
if (gPigHandle[sbc] < 0) return lgif_bad_noib;
else
{
gLastLevel[sbc] = 0;
/* must be freed by pthNotifyThread */
userdata = malloc(sizeof(*userdata));
*userdata = sbc;
gPthNotify[sbc] = thread_start(pthNotifyThread, userdata);
if (gPthNotify[sbc])
{
gMsgBuf[sbc] = malloc(CMD_MAX_EXTENSION);
if (gMsgBuf[sbc] != NULL)
{
userStr = getenv(LG_ENVUSER);
if (userStr && strlen(userStr))
{
lgu_set_user(sbc, userStr, NULL);
}
return sbc;
}
else return lgif_bad_malloc;
}
else return lgif_notify_failed;
}
}
else return gPigNotify[sbc];
}
else return gPigCommand[sbc];
}
void rgpiod_stop(int sbc)
{
if ((sbc < 0) || (sbc >= MAX_SBC) || !gPiInUse[sbc]) return;
if (gPthNotify[sbc])
{
thread_stop(gPthNotify[sbc]);
gPthNotify[sbc] = 0;
}
if (gPigCommand[sbc] >= 0)
{
//lg_command_0(sbc, LG_CMD_FREE, 1);
if (gPigHandle[sbc] >= 0)
{
//lg_command_1(sbc, LG_CMD_NC, gPigHandle[sbc], 1);
gPigHandle[sbc] = -1;
}
close(gPigCommand[sbc]);
gPigCommand[sbc] = -1;
}
if (gPigNotify[sbc] >= 0)
{
close(gPigNotify[sbc]);
gPigNotify[sbc] = -1;
}
_pml(sbc);
gPiInUse[sbc] = 0;
free(gMsgBuf[sbc]);
gMsgBuf[sbc] = NULL;
_pmu(sbc);
}
/* FILES */
int file_open(int sbc, const char *file, int mode)
{
lgExtent_t ext[2];
uint32_t pars[] = {mode};
int len;
len = strlen(file);
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
ext[1].size = len;
ext[1].count = len;
ext[1].bytes = 1;
ext[1].ptr = file;
return lg_command(sbc, LG_CMD_FO, 2, ext, 1);
}
int file_close(int sbc, int handle)
{return lg_command_1(sbc, LG_CMD_FC, handle, 1);}
int file_write(int sbc, int handle, const char *buf, int count)
{
lgExtent_t ext[2];
uint32_t pars[]={handle};
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
ext[1].size = count;
ext[1].ptr = buf;
return lg_command(sbc, LG_CMD_FW, 2, ext, 1);
}
int file_read(int sbc, int handle, char *buf, int count)
{
int bytes;
bytes = lg_command_2(sbc, LG_CMD_FR, handle, count, 0);
if (bytes > 0)
{
bytes = recvMax(sbc, buf, count, bytes);
}
_pmu(sbc);
return bytes;
}
int file_seek(int sbc, int handle, int32_t seekOffset, int seekFrom)
{return lg_command_3(sbc, LG_CMD_FS, handle, seekOffset, seekFrom, 1);}
int file_list(int sbc, const char *fpat, char *buf, int count)
{
int len;
int bytes;
uint32_t pars[] = {60000};
lgExtent_t ext[2];
len = strlen(fpat);
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
ext[1].size = len;
ext[1].count = len;
ext[1].bytes = 1;
ext[1].ptr = fpat;
bytes = lg_command(sbc, LG_CMD_FL, 2, ext, 0);
if (bytes > 0)
{
bytes = recvMax(sbc, buf, count, bytes);
}
_pmu(sbc);
return bytes;
}
/* GPIO */
int gpiochip_open(int sbc, int device)
{
int status;
status = lg_command_1(sbc, LG_CMD_GO, device, 1);
if (status >= 0) status |= (device<<16);
return status;
}
int gpiochip_close(int sbc, int handle)
{return lg_command_1(sbc, LG_CMD_GC, handle&0xffff, 1);}
int gpio_get_chip_info(int sbc, int handle, lgChipInfo_p chipInfP)
{
int status;
int bytes;
lgExtent_t ext[1];
uint32_t pars[] = {handle&0xffff};
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
bytes = lg_command(sbc, LG_CMD_GIC, 1, ext, 0);
if (bytes > 0)
{
recvMax(sbc, chipInfP, sizeof(lgChipInfo_t), bytes);
status = LG_OKAY;
}
else status = bytes;
_pmu(sbc);
return status;
}
int gpio_get_line_info(int sbc, int handle, int gpio, lgLineInfo_p lineInfP)
{
int status;
int bytes;
lgExtent_t ext[1];
uint32_t pars[] = {handle&0xffff, gpio};
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
bytes = lg_command(sbc, LG_CMD_GIL, 1, ext, 0);
if (bytes > 0)
{
recvMax(sbc, lineInfP, sizeof(lgLineInfo_t), bytes);
status = LG_OKAY;
}
else status = bytes;
_pmu(sbc);
return status;
}
int gpio_get_mode(int sbc, int handle, int gpio)
{return lg_command_2(sbc, LG_CMD_GMODE, handle&0xffff, gpio, 1);}
int group_read(int sbc, int handle, int group, uint64_t *value)
{
int status;
int bytes;
lgExtent_t ext[1];
uint32_t pars[] = {handle&0xffff, group};
uint8_t retval[12];
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
bytes = lg_command(sbc, LG_CMD_GGR, 1, ext, 0);
if (bytes > 0)
{
recvMax(sbc, &retval, 12, bytes);
*value = *(uint64_t*)retval;
status = *(uint32_t*)(retval+8);
}
else status = bytes;
_pmu(sbc);
return status;
}
int group_write(
int sbc, int handle, int group, uint64_t groupBits, uint64_t groupMask)
{
lgExtent_t ext[2];
uint64_t parq[] = {groupBits, groupMask};
uint32_t pars[] = {handle&0xffff, group};
ext[0].size = sizeof(parq);
ext[0].count = sizeof(parq)/sizeof(parq[0]);
ext[0].bytes = sizeof(parq[0]);
ext[0].ptr = &parq;
ext[1].size = sizeof(pars);
ext[1].count = sizeof(pars)/sizeof(pars[0]);
ext[1].bytes = sizeof(pars[0]);
ext[1].ptr = &pars;
return lg_command(sbc, LG_CMD_GGWX, 2, ext, 1);
}
int gpio_claim_input(int sbc, int handle, int lFlags, int gpio)
{return lg_command_3(sbc, LG_CMD_GSIX, handle&0xffff, lFlags, gpio, 1);}
int group_claim_input(
int sbc, int handle, int lFlags, int size, const int *gpio)
{
lgExtent_t ext[2];
uint32_t pars[] = {handle&0xffff, lFlags};
int i;
int status=LG_NO_MEMORY;
uint32_t *g32 = malloc(size * 4);
if (g32)
{
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
ext[1].size = size*4;
ext[1].count = size;
ext[1].bytes = 4;
ext[1].ptr = g32;
for (i=0; i<size; i++) g32[i] = gpio[i];
status = lg_command(sbc, LG_CMD_GSGIX, 2, ext, 1);
free (g32);
}
return status;
}
int gpio_claim_output(
int sbc, int handle, int lFlags, int gpio, int value)
{
lgExtent_t ext[1];
uint32_t pars[] = {handle&0xffff, lFlags, gpio, value};
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
return lg_command(sbc, LG_CMD_GSOX, 1, ext, 1);
}
int group_claim_output(
int sbc, int handle, int lFlags,
int size, const int *gpio, const int *values)
{
lgExtent_t ext[2];
uint32_t pars[] = {handle&0xffff, lFlags};
int i;
int status=LG_NO_MEMORY;
uint32_t *g32 = malloc(size * 8);
if (g32)
{
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
ext[1].size = size*8;
ext[1].count = size*2;
ext[1].bytes = 4;
ext[1].ptr = g32;
for (i=0; i<size; i++)
{
g32[i] = gpio[i];
g32[i+size] = values[i];
}
status = lg_command(sbc, LG_CMD_GSGOX, 2, ext, 1);
free (g32);
}
return status;
}
int gpio_free(int sbc, int handle, int gpio)
{return lg_command_2(sbc, LG_CMD_GSF, handle&0xffff, gpio, 1);}
int group_free(int sbc, int handle, int gpio)
{return lg_command_2(sbc, LG_CMD_GSGF, handle&0xffff, gpio, 1);}
int gpio_read(int sbc, int handle, int gpio)
{return lg_command_2(sbc, LG_CMD_GR, handle&0xffff, gpio, 1);}
int gpio_write(int sbc, int handle, int gpio, int value)
{return lg_command_3(sbc, LG_CMD_GW, handle&0xffff, gpio, value, 1);}
int gpio_set_debounce_time(int sbc, int handle, int gpio, int debounce_us)
{
return lg_command_3(
sbc, LG_CMD_GDEB, handle&0xffff, gpio, debounce_us, 1);
}
int gpio_set_watchdog_time(int sbc, int handle, int gpio, int watchdog_us)
{
return lg_command_3(
sbc, LG_CMD_GWDOG, handle&0xffff, gpio, watchdog_us, 1);
}
int tx_pulse(
int sbc, int handle, int gpio,
int micros_on, int micros_off,
int offset, int cycles)
{
lgExtent_t ext[1];
uint32_t pars[] =
{handle&0xffff, gpio, micros_on, micros_off, offset, cycles};
ext[0].size = sizeof(pars);
ext[0].count = sizeof(pars)/sizeof(pars[0]);
ext[0].bytes = sizeof(pars[0]);
ext[0].ptr = &pars;
return lg_command(sbc, LG_CMD_GPX, 1, ext, 1);
}
int tx_pwm(
int sbc, int handle, int gpio,
float pwmFrequency, float pwmDutyCycle,
int offset, int cycles)
{
lgExtent_t ext[1];
uint32_t pars[] =
{handle&0xffff, gpio, pwmFrequency*1000, pwmDutyCycle*1000,
offset, cycles};
ext[0].size = sizeof(pars);